Real-Time Physics Simulation Forum

Posted: **Tue Aug 26, 2014 5:53 am**

Hi all,

I'm new to bullet and i'm some joint related stuff with picking like in the examples. the example contains the following code

Code: Select all

          dof6->setParam( BT_CONSTRAINT_STOP_CFM, 0.8f, 0 );
          dof6->setParam( BT_CONSTRAINT_STOP_CFM, 0.8f, 1 );
          dof6->setParam( BT_CONSTRAINT_STOP_CFM, 0.8f, 2 );
          dof6->setParam( BT_CONSTRAINT_STOP_CFM, 0.8f, 3 );
          dof6->setParam( BT_CONSTRAINT_STOP_CFM, 0.8f, 4 );
          dof6->setParam( BT_CONSTRAINT_STOP_CFM, 0.8f, 5 );

          dof6->setParam( BT_CONSTRAINT_STOP_ERP, 0.1f, 0 );
          dof6->setParam( BT_CONSTRAINT_STOP_ERP, 0.1f, 1 );
          dof6->setParam( BT_CONSTRAINT_STOP_ERP, 0.1f, 2 );
          dof6->setParam( BT_CONSTRAINT_STOP_ERP, 0.1f, 3 );
          dof6->setParam( BT_CONSTRAINT_STOP_ERP, 0.1f, 4 );
          dof6->setParam( BT_CONSTRAINT_STOP_ERP, 0.1f, 5 );

My question is, what does CFM and ERP stand for? I can't find it documented anywhere? What are these parameters?

Thanks in advance

Posted: **Thu Aug 28, 2014 10:33 pm**

So no one knows that they are? they just use them with random values and hope for the best results?

Posted: **Fri Aug 29, 2014 3:52 pm**

See the Open Dynamics Manual for CFM and ERP:
http://www.ode.org/ode-latest-userguide.html#sec_3_7_0

Posted: **Mon Sep 01, 2014 1:48 am**

Beautiful

Thanks Erwin

Real-Time Physics Simulation Forum

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